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1. 发明公开

CN104544746A 柔软物品的自动修整有权
公开(公告)号：CN104544746A
公开(公告)日：2015-04-29
申请号：CN201410560356.0
申请日：2014-10-21
申请人：耐克创新有限合伙公司
发明人：张之奇 , 霍城言 , 迈克·F·奎格利 , 王淑慧
IPC分类号： A43D8/02 , G06K9/00 , G06K9/46
CPC分类号： A43D119/00 , A43D27/00 , A43D2200/60 , B23K26/032 , G05B19/401 , G05B2219/36048 , G05B2219/36251 , G05B2219/37555 , G05B2219/45243
摘要：柔软物品的自动修整。本发明涉及柔软物品的自动切割。更具体地，本发明涉及柔软物品例如缺乏均匀性的鞋面的自动切割和/或修整。被捕获的柔软物品的图像具有图像特征部，并且被检索的图案具有图案特征部例如拟切割路径。图像特征部和与图案特征部相关联的距离公差进行比较以调整拟切割路径使得拟切割路径满足距离公差同时提供一致尺寸和形状的修整的物品。

2. 发明申请

US20060217817A1 SYSTEM AND METHOD TO CUSTOMIZE BOND PROGRAMS COMPENSATING INTEGRATED CIRCUIT BONDER VARIABILITY 审中-公开
标题翻译：系统和方法来自定义绑定程序来加强集成电路粘结剂的可变性
公开(公告)号：US20060217817A1
公开(公告)日：2006-09-28
申请号：US11423880
申请日：2006-06-13
申请人： David Bon , Sreenivasan Koduri
发明人： David Bon , Sreenivasan Koduri
IPC分类号： G05B19/18
CPC分类号： G05B19/4083 , G05B2219/36046 , G05B2219/36048 , G05B2219/45033
摘要： A computerized system and method for customizing bond programs in order to compensate first for variabilities in an integrated circuit (IC) “slave” bonder, and second to any irregularities in a “slave” circuit positioned on the slave bonder for attaching connecting bonds onto the IC bond pads. According to the invention, a “master” segmentator groups the bond pads of a “master” circuit on a master bonder into segments and stores the reference data related to these segments in a master file. Next, a slave regenerator, coupled to the master file, regenerates the master reference data so that variable characteristics of the slave bonder are defined and adaptively compensated. Finally, a slave corrector, coupled to the salve regenerator, corrects the bond program for the slave circuit on the adaptively compensated slave bonder. The slave bonder attaches the connecting bonds based on the computed correct bond locations.
摘要翻译：一种用于定制键合程序的计算机化系统和方法，以便首先补偿集成电路（IC）“从”）接合器中的变量，并且其次是位于从属接合器上的“从”电路中的任何不规则性，用于将连接键附接到 IC焊盘。根据本发明，“主”分隔器将主接头上的“主”电路的接合焊盘分组成段，并将与这些段相关的参考数据存储在主文件中。接下来，耦合到主文件的从再生器重新生成主参考数据，从而定义从属接合器的可变特性并进行自适应补偿。最后，耦合到硬盘再生器的从属校正器在自适应补偿的从属接合器上校正从电路的接合程序。奴隶连接器根据计算的正确的债券位置附加连接债券。

3. 发明授权

US4876758A System and method for forming custom-made shoe inserts 失效
标题翻译：用于成型定制鞋垫的系统和方法
公开(公告)号：US4876758A
公开(公告)日：1989-10-31
申请号：US34077
申请日：1987-03-31
申请人： Paul D. Rolloff , Reginald T. Lamb
发明人： Paul D. Rolloff , Reginald T. Lamb
IPC分类号： A43B7/28 , A43D1/02 , A43D39/00 , A61B5/107 , G05B19/42
CPC分类号： A43D1/022 , A43B7/28 , A43D1/02 , A43D39/00 , G05B19/4207 , A61B5/1078 , G05B2219/36048 , G05B2219/37043 , G05B2219/37054 , G05B2219/37057 , G05B2219/45243 , G05B2219/49025
摘要： A foot impression unit is provided with an array of gauging elements, a control mechanism for urging the gauging elements into contact with the undersurface of a person's foot to form an impression of the undersurface of the foot, a locking mechanism for releasably locking the gauging elements in place to retain that impression, and a sensing mechanism for scanning the gauging elements to produce digital signals indicative of the positions of the gauging elements. These digital signals are stored and processed by a computer to provide a stored data record serving as a digital representation of the impression of the undersurface of the foot. The computer may also be employed to provide stored additional information for modifying that data record to compensate for a perceived defect of the foot. In response to the stored data record and any stored additional information for modifying that data record, a shaping unit shapes an insert blank to form a custom-made shoe insert conforming to the undersurface of the foot and compensating for any perceived defect of the foot.

4. 发明授权

US09635908B2 Automated trimming of pliable items 有权
公开(公告)号：US09635908B2
公开(公告)日：2017-05-02
申请号：US14058685
申请日：2013-10-21
申请人： Nike, Inc.
发明人： Chih-Chi Chang , Cheng-Yen Ho , Mike F. Quigley , Shu-Hui Wang
IPC分类号： G06F19/00 , A43D119/00 , A43D27/00 , B23K26/03 , G05B19/401
CPC分类号： A43D119/00 , A43D27/00 , A43D2200/60 , B23K26/032 , G05B19/401 , G05B2219/36048 , G05B2219/36251 , G05B2219/37555 , G05B2219/45243
摘要： The present invention relates to the automated cutting of pliable items. More particularly, the present invention relates to the automatic cutting and/or trimming of pliable items, such as a shoe upper that lacks uniformity. An image of the pliable item is captured having image features and a pattern is retrieved having pattern features, such as a proposed cut path. An image feature is compared to distance tolerances associated with pattern features to adjust the proposed cut path such that it satisfies the distance tolerances while providing a consistently sized and shaped trimmed item.

5. 发明申请

US20070075048A1 Welding teaching point correction system and calibration method 审中-公开
标题翻译：焊接教学点校正系统和校准方法
公开(公告)号：US20070075048A1
公开(公告)日：2007-04-05
申请号：US11529491
申请日：2006-09-29
申请人： Akira Kunisaki , Hisanori Takata
发明人： Akira Kunisaki , Hisanori Takata
IPC分类号： B23K11/10
CPC分类号： B23K11/253 , B25J9/1692 , B25J9/1697 , G05B19/4083 , G05B2219/36048 , G05B2219/36404 , G05B2219/39056 , G05B2219/39057 , G05B2219/40003 , G05B2219/45104
摘要： Disclosed is a welding teaching point correction system, including: a robot; a spot welding gun comprising two welding tips provided to be opposed to each other; an imaging apparatus to image a welding point of a workpiece, the imaging apparatus being provided detachably to or exchangeably with at least one of the two welding tips; an operation control unit to control the robot and the spot welding gun in accordance with an teaching program to teach welding operation to the robot and the spot welding gun; an image processing unit to acquire positional information of the welding point of the workpiece in the image; and a program correction unit to correct an teaching point for the robot in the teaching program in a plurality of directions based on the positional information of the welding point of the workpiece in the image acquired by the image processing unit.
摘要翻译：公开了一种焊接教学点校正系统，包括：机器人; 一种点焊枪，包括彼此相对设置的两个焊接尖端; 成像设备，用于对工件的焊接点进行成像，所述成像设备可拆卸地设置或与所述两个焊接尖端中的至少一个可交换地提供; 操作控制单元，用于根据教导程序控制机器人和点焊枪，以教导对机器人和点焊枪的焊接操作; 图像处理单元，用于获取图像中的工件的焊接点的位置信息; 以及程序校正单元，其基于由图像处理单元获取的图像中的工件的焊接点的位置信息，在多个方向上校正示教程序中的机器人的教导点。

6. 发明授权

US5640779A Apparatus, system and method for forming custom-made shoe inserts 失效
标题翻译：用于成型定制鞋垫的装置，系统和方法
公开(公告)号：US5640779A
公开(公告)日：1997-06-24
申请号：US450617
申请日：1995-05-25
申请人： Paul D. Rolloff , Reginald T. Lamb
发明人： Paul D. Rolloff , Reginald T. Lamb
IPC分类号： A43B7/28 , A43D1/02 , A43D39/00 , A61B5/107 , G05B19/42 , G01B7/28 , A41H1/02 , A61B5/103
CPC分类号： A43D1/022 , A43B7/28 , A43D1/02 , A43D39/00 , G05B19/4207 , A61B5/1078 , G05B2219/36048 , G05B2219/37043 , G05B2219/37054 , G05B2219/37057 , G05B2219/45243 , G05B2219/49025
摘要： A foot impression unit is provided with an array of gauging elements, a control mechanism for urging the gauging elements into contact with the undersurface of a person's foot to form an impression of the undersurface of the foot, a locking mechanism for releasably locking the gauging elements in place to retain that impression, and a sensing mechanism for scanning the gauging elements to produce digital signals indicative of the positions of the gauging elements. These digital signals are stored and processed by a computer to provide a stored data record serving as a digital representation of the impression of the undersurface of the foot. The computer may also be employed to provide stored additional information for modifying that data record to compensate for a perceived defect of the foot. In response to the stored data record and any stored additional information for modifying that data record, a shaping unit shapes an insert blank to form a custom-made shoe insert conforming to the undersurface of the foot and compensating for any perceived defect of the foot.
摘要翻译：足部印模单元设置有一组测量元件，一个控制机构，用于推动测量元件与人的脚的下表面接触以形成脚的下表面的印模;锁定机构，用于可释放地锁定测量元件以保持该印象，以及用于扫描测量元件以产生指示测量元件的位置的数字信号的感测机构。这些数字信号由计算机存储和处理，以提供用作足部底面的印象的数字表示的存储的数据记录。还可以使用计算机来提供存储的附加信息，以便修改该数据记录以补偿感觉到的脚缺陷。响应于存储的数据记录和用于修改该数据记录的任何存储的附加信息，成形单元形成插入坯料，以形成符合脚的下表面的定制的鞋插入件，并补偿脚的任何感觉到的缺陷。

7. 发明申请

US20150107033A1 Automated Trimming Of Pliable Items 有权
标题翻译：自动修剪柔韧物品
公开(公告)号：US20150107033A1
公开(公告)日：2015-04-23
申请号：US14058685
申请日：2013-10-21
申请人： Nike, Inc.
发明人： Chih-Chi Chang , Cheng-Yen Ho , Mike F. Quigley , Shu-Hui Wang
IPC分类号： A43D119/00 , B23K26/08 , B23K26/03 , B23K26/04 , A43D27/00 , B23K26/00
CPC分类号： A43D119/00 , A43D27/00 , A43D2200/60 , B23K26/032 , G05B19/401 , G05B2219/36048 , G05B2219/36251 , G05B2219/37555 , G05B2219/45243
摘要： The present invention relates to the automated cutting of pliable items. More particularly, the present invention relates to the automatic cutting and/or trimming of pliable items, such as a shoe upper that lacks uniformity. An image of the pliable item is captured having image features and a pattern is retrieved having pattern features, such as a proposed cut path. An image feature is compared to distance tolerances associated with pattern features to adjust the proposed cut path such that it satisfies the distance tolerances while providing a consistently sized and shaped trimmed item.
摘要翻译：本发明涉及柔性物品的自动切割。更具体地，本发明涉及柔性物品的自动切割和/或修整，例如缺乏均匀性的鞋面。拍摄具有图像特征的柔性物品的图像，并且检索具有图案特征的图案，例如所提出的切割路径。将图像特征与与图案特征相关联的距离公差进行比较，以调整所提出的切割路径，使得其在提供一致尺寸和形状的修剪物品的同时满足距离公差。

8. 发明授权

US07069102B2 System and method to customize bond programs compensating integrated circuit bonder variability 有权
标题翻译：定制接合程序的系统和方法补偿集成电路焊接机变异性
公开(公告)号：US07069102B2
公开(公告)日：2006-06-27
申请号：US09855893
申请日：2001-05-15
申请人： David J. Bon , Sreenivasan K. Koduri
发明人： David J. Bon , Sreenivasan K. Koduri
IPC分类号： G06F19/00
CPC分类号： G05B19/4083 , G05B2219/36046 , G05B2219/36048 , G05B2219/45033
摘要： A computerized system and method for customizing bond programs in order to compensate first for variabilities in an integrated circuit (IC) “slave” bonder, and second to any irregularities in a “slave” circuit positioned on the slave bonder for attaching connecting bonds onto the IC bond pads. According to the invention, a “master” segmentator groups the bond pads of a “master” circuit on a master bonder into segments and stores the reference data related to these segments in a master file. Next, a slave regenerator, coupled to the master file, regenerates the master reference data so that variable characteristics of the slave bonder are defined and adaptively compensated. Finally, a slave corrector, coupled to the salve regenerator, corrects the bond program for the slave circuit on the adaptively compensated slave bonder. The slave bonder attaches the connecting bonds based on the computed correct bond locations.
摘要翻译：一种用于定制键合程序的计算机化系统和方法，以便首先补偿集成电路（IC）“从”）接合器中的变量，并且其次是位于从属接合器上的“从”电路中的任何不规则性，用于将连接键附接到 IC贴片。根据本发明，“主”分隔器将主接头上的“主”电路的接合焊盘分组成段，并将与这些段相关的参考数据存储在主文件中。接下来，耦合到主文件的从再生器重新生成主参考数据，从而定义从属接合器的可变特性并进行自适应补偿。最后，耦合到硬盘再生器的从属校正器在自适应补偿的从属接合器上校正从电路的接合程序。奴隶连接器根据计算的正确的债券位置附加连接债券。

9. 发明授权

US5980082A Robot movement control device and movement control method 失效
标题翻译：机器人运动控制装置和运动控制方法
公开(公告)号：US5980082A
公开(公告)日：1999-11-09
申请号：US793758
申请日：1997-03-03
申请人： Atsushi Watanabe , Tetsuya Kosaka , Tomoyuki Yamamoto
发明人： Atsushi Watanabe , Tetsuya Kosaka , Tomoyuki Yamamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/425 , G05B19/42
CPC分类号： B25J9/1658 , G05B19/425 , G05B2219/36048 , G05B2219/36427 , G05B2219/40385
摘要： The present invention corrects a teaching point set in a robot movement control program to another position using jog-feed buttons. A robot tool is moved by jog-feed buttons using a jog-feed command unit toward a position to which a teaching point is to be corrected. When the position of the tool approaches any teaching point contained in a movement command program, the robot is automatically shifted to the teaching point to be corrected in the movement command program. When the teaching point to be corrected is found, correction of a teaching point from the closest teaching point to the position to be corrected is then performed.
摘要翻译： PCT No.PCT / JP96 / 01878第 371日期1997年3月3日 102（e）1997年3月3日PCT PCT 1996年7月5日PCT公布。出版物WO97 / 02114 日期1997年1月23日本发明使用点动馈送按钮将机器人运动控制程序中的教导点校正到另一位置。使用点动给送指令单元通过点动给送按钮移动机器人工具朝向要校正教学点的位置。当工具的位置接近包含在移动指令程序中的任何教导点时，机器人自动地移动到教导点以在移动命令程序中被校正。当发现要校正的教导点时，然后执行从最接近的教导点到要校正的位置的教学点的校正。

10. 发明申请

WO1997002114A1 APPARATUS FOR CONTROLLING MOVEMENT OF ROBOT AND METHOD OF CONTROLLING MOVEMENT OF ROBOT 审中-公开
标题翻译：用于控制机器人运动的装置和控制机器人运动的方法
公开(公告)号：WO1997002114A1
公开(公告)日：1997-01-23
申请号：PCT/JP1996001878
申请日：1996-07-05
申请人： FANUC LTD , WATANABE, Atsushi , KOSAKA, Tetsuya , YAMAMOTO, Tomoyuki
发明人： FANUC LTD
IPC分类号： B25J09/22
CPC分类号： B25J9/1658 , G05B19/425 , G05B2219/36048 , G05B2219/36427 , G05B2219/40385
摘要： A tool (12) is jog-fed by a jog-feed command means toward a position Pa to which a taught point is to be corrected. When the position of the tool comes close to any taught point Pt described in a movement command program, a robot is moved automatically to the taught point Pt. Therefore, the operator can know that the position in which the robot has stopped is the taught point Pt to be corrected described in the movement command program. When the point Pt to be corrected is known, it is corrected to the object position Pa by a method indentical with a conventional method.
摘要翻译：工具（12）通过点动给送指令装置向待校准教导点的位置Pa进行点动馈送。当工具的位置接近运动命令程序中描述的任何教导点Pt时，机器人自动移动到教导点Pt。因此，操作者可以知道机器人停止的位置是在移动指令程序中描述的被修正的教导点Pt。当要校正的点Pt是已知的时，通过常规方法的方法将其校正到目标位置Pa。

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